mirror of
https://github.com/micro-ROS/micro-ROS-Agent.git
synced 2026-09-06 09:55:15 +02:00
Snap build for the micro-ROS-Agent (#43)
* Add snap packaging * First approach for snap packaging * Working state * Fixes * Simplify snapcraft.yaml * Fix snapcraft build * Fix daemon * Fix compilation due to external micro_ros_msgs * CMakeLists cleanup
This commit is contained in:
Jose Antonio Moral
+104
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#!/bin/sh -e
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# Confirm that the transport is valid
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transport="$(snapctl get transport)"
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case "$transport" in
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udp4) ;;
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udp6) ;;
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tcp4) ;;
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tcp6) ;;
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serial) ;;
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pseudoterminal) ;;
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*)
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echo "'$transport' is not a supported transport" >&2
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return 1
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;;
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esac
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# Confirm that the middleware is valid
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middleware="$(snapctl get middleware)"
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case "$middleware" in
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dds) ;;
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rtps) ;;
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ced) ;;
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*)
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echo "'$middleware' is not a supported middleware" >&2
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return 1
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;;
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esac
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if [ "$transport" = "serial" ] || [ "$transport" = "pseudoterminal" ]; then
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# A serial transport if being used, which requires a valid baud rate
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# as well as a valid device
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baudrate="$(snapctl get baudrate)"
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if ! expr "$baudrate" : '^[0-9]\+$' > /dev/null; then
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echo "'$baudrate' is not a valid baud rate" >&2
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return 1
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fi
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device="$(snapctl get device)"
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if [ -z "$device" ]; then
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echo "Device must be specified" >&2
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return 1
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fi
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else
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port="$(snapctl get port)"
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if ! expr "$port" : '^[0-9]\+$' > /dev/null; then
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echo "'$port' is not a valid port" >&2
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return 1
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fi
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fi
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# Confirm that discovery is a boolean
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discovery="$(snapctl get discovery)"
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case "$discovery" in
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true)
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# Confirm that discovery port is valid
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port="$(snapctl get discovery-port)"
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if ! expr "$port" : '^[0-9]\+$' > /dev/null; then
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echo "'$port' is not a valid discovery port" >&2
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return 1
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fi
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;;
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false) ;;
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*)
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echo "'$discovery' is not a valid boolean for discovery" >&2
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return 1
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;;
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esac
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# Confirm that the verbosity is valid
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verbosity="$(snapctl get verbosity)"
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if ! expr "$verbosity" : '^[0-6]$' > /dev/null; then
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echo "'$verbosity' is not a valid verbosity" >&2
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return 1
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fi
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# Confirm that p2p port is valid (assuming it's set)
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p2p_port="$(snapctl get p2p-port)"
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if [ -n "$p2p_port" ]; then
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port="$(snapctl get p2p-port)"
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if ! expr "$port" : '^[0-9]\+$' > /dev/null; then
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echo "'$port' is not a valid p2p port" >&2
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return 1
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fi
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fi
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# Confirm that daemon is a boolean, and enable the service if true
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daemon="$(snapctl get daemon)"
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case "$daemon" in
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true)
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snapctl start --enable "$SNAP_INSTANCE_NAME.daemon"
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# In case it was alraedy started and the configuration changed,
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# restart the service
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snapctl restart "$SNAP_INSTANCE_NAME.daemon"
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;;
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false)
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snapctl stop --disable "$SNAP_INSTANCE_NAME.daemon"
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;;
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*)
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echo "'$daemon' is not a valid boolean for daemon" >&2
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return 1
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;;
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esac
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Executable
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#!/bin/sh -e
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# Set default configuration values
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snapctl set transport=udp4
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snapctl set middleware=dds
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snapctl set verbosity=4
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snapctl set discovery=false
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snapctl set discovery-port=7400
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snapctl set p2p-port! # unset
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# Network-specific things
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snapctl set port=8888
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# Serial-specific things
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snapctl set baudrate=115200
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snapctl set device! # unset
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# By default the daemon is disabled
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snapctl set daemon=false
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Executable
+27
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#!/bin/sh -e
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set -- --middleware "$(snapctl get middleware)" "$@"
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set -- --verbose "$(snapctl get verbosity)" "$@"
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transport="$(snapctl get transport)"
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if [ "$transport" = "serial" ] || [ "$transport" = "pseudoterminal" ]; then
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set -- --dev "$(snapctl get device)" "$@"
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else
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set -- --port "$(snapctl get port)" "$@"
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fi
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if [ "$(snapctl get discovery)" = "true" ]; then
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set -- --discovery "$@"
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discovery_port="$(snapctl get discovery-port)"
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if [ -n "$discovery_port" ]; then
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set -- --disport "$discovery_port" "$@"
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fi
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fi
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p2p_port="$(snapctl get p2p-port)"
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if [ -n "$p2p_port" ]; then
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set -- --p2p "$p2p_port" "$@"
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fi
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exec "$SNAP/lib/micro_ros_agent/micro_ros_agent" "$transport" "$@"
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@@ -0,0 +1,119 @@
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name: micro-ros-agent
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base: core20
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version: git
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summary: Bridge between Micro ROS client applications and ROS 2
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description: |
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Micro-ROS, whose default implementation is based on eProsima's
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Micro XRCE-DDS middleware, is composed of client applications
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which interact with the ROS 2 world by means of an Agent.
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This agent keeps tracks of the entities created by means of
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requests performed on the microcontroller side, and uses them
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to communicate with the ROS 2 dataspace.
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Being an extension of the Micro XRCE-DDS Agent, the micro-ROS
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agent supports being run by the user like this:
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$ micro-ros-agent --help
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In addition, the Agent supports running as a service that can be
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enabled with:
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$ snap set micro-ros-agent daemon=true
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If the service is enabled, by default it uses the `udp4` transport on
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port 8888. The following parameters can be changed (these are
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specific to the service, the `micro-ros-agent` command simply
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takes command-line arguments, but the capabilities are the same):
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* `transport`. Supported transports are `udp4`, `udp6`, `tcp4`,
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`tcp6`, `serial`, and `pseudoterminal`. Default is `udp4`. Change
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with:
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$ snap set micro-ros-agent transport="new transport"
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* `middleware`. Supported kinds of middleware are `ced`, `rtps`, and
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`dds`. Default is `dds`. Change with:
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$ snap set micro-ros-agent middleware="new middleware"
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* `verbosity`. Supported verbosity levels are 0-6, defaulting to 4.
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Change with:
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$ snap set micro-ros-agent verbosity="selected verbosity"
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* `discovery`. Enable or disable the discovery server. Defaults to
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"false". Change with:
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$ snap set micro-ros-agent discovery="true or false"
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* `discovery-port`. Port on which the discovery server (see above)
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listens. Defaults to 7400. Change with:
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$ snap set micro-ros-agent discovery-port="selected port"
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* `p2p-port`. Port to use for the P2P profile. Change with:
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$ snap set micro-ros-agent p2p-port="selected port"
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* `port`. Port on which the agent listens. Only applicable to one of
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the UDP or TCP transports (see above). Defaults to 8888. Change with:
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$ snap set micro-ros-agent port="selected port"
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* `baudrate`. Baud rate to use when accessing serial ports. Only
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applicable when using the `serial` or `pseudoterminal` transport.
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Defaults to 115200. Change with:
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$ snap set micro-ros-agent baudrate="baud rate"
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* `device`. The serial device to use. Only applicable when using the
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`serial` or `pseudoterminal` transport. Change with:
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$ snap set micro-ros-agent device="device path"
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grade: stable
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confinement: strict
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architectures:
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- build-on: amd64
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- build-on: arm64
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- build-on: armhf
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- build-on: ppc64el
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parts:
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uros-agent:
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plugin: colcon
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source: .
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override-build: |
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git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git -b $ROS_DISTRO
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git clone https://github.com/eProsima/Micro-CDR.git -b $ROS_DISTRO
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git clone https://github.com/micro-ROS/micro_ros_msgs.git -b $ROS_DISTRO
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git clone https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git -b $ROS_DISTRO
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git clone https://github.com/micro-ROS/rmw-microxrcedds.git -b $ROS_DISTRO
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. /opt/ros/$ROS_DISTRO/setup.sh
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colcon build --merge-install --install-base $SNAPCRAFT_PRIME --cmake-args '-DUAGENT_CLI_PROFILE=OFF -DUAGENT_BUILD_EXECUTABLE=OFF' --packages-up-to micro_ros_agent
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build-packages: [make, gcc, g++]
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stage-packages: [ros-foxy-ros2launch]
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runner:
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plugin: dump
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source: snap/local/
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organize:
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'*': usr/bin/
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apps:
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micro-ros-agent:
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command: lib/micro_ros_agent/micro_ros_agent
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environment:
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LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
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plugs: [network, network-bind, serial-port]
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extensions: [ros2-foxy]
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daemon:
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command: usr/bin/micro-ros-agent-daemon
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environment:
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LD_LIBRARY_PATH: "$LD_LIBRARY_PATH:$SNAP/lib"
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daemon: simple
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plugs: [network, network-bind, serial-port]
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